Terrace machine non-standard abrasive grinding track uniformity evaluation method based on discrete coefficient

Abstract

The invention provides a method for judging the grinding track uniformity of a non-standard grinding tool of a floor machine based on a discrete coefficient, which comprises the following steps of: observing the morphological characteristics of abrasive particles on the surface of the non-standard grinding tool to obtain characterization parameters of the abrasive particles, and simulating the randomness of the quantity of the abrasive particles with different particle sizes on the surface of the abrasive material through a distribution theory to obtain the uniformity of the grinding track of the non-standard grinding tool. Calculating the number of abrasive particles with different particle sizes so as to establish an abrasive surface abrasive particle distribution model; according to a motion transmission structure of the floor machine, a grinding disc kinematics model is established, a grinding track equation of a grinding disc is deduced, and therefore a grinding track curve of all grinding particles is drawn; and grid division is carried out on the ground area, and the average value of the number of track points of a grid, the standard deviation of track uniformity and the discrete coefficient CV of the track uniformity are calculated so as to judge the uniformity of the track in the whole area. The method can be used for judging the uniformity of the grinding track of the non-standard grinding material, and a reasonable basis is provided for kinematics design of a grinding disc of a floor machine.

Description

Technical Field

[0001] The invention belongs to the technical field of surface finishing, and in particular relates to a method for judging the uniformity of a non-standard abrasive grinding track of a flooring machine based on a discrete coefficient. Background Art

[0002] When floor machines use non-standard abrasives for grinding, the grinding path exhibits significant non-uniformity due to the randomness of abrasive particle size, spatial arrangement, and batch variations in physical properties. However, there is a lack of methods to evaluate the uniformity of the grinding path with non-standard abrasives and convert it into a quantitative indicator. Therefore, a method for evaluating the uniformity of the grinding path with non-standard abrasives for floor machines that can take into account local characteristics is urgently needed.

[0003] To address these challenges, this paper proposes a uniformity quantification method based on discrete coefficients. Its core technology lies in establishing a microscopic model of non-standard abrasives and constructing the grinding trajectory of the entire machine. The grinding area is then discretized, and an evaluation model is established by calculating the density dispersion of trajectory points within each unit. By inverting the influence of process parameters based on the spatial distribution characteristics of the discrete coefficients, this method provides a theoretical basis and engineering practice tool for the intelligent control of floor grinding processes. Summary of the Invention

[0004] The purpose of the present invention is to propose a method for judging the uniformity of the grinding track of non-standard abrasives of a floor machine based on a discrete coefficient, thereby solving the technical bottleneck of the difficulty in quantitatively evaluating the uniformity of the grinding track of non-standard abrasives.

[0005] To achieve the above object, the technical solution of the present invention is: a method for judging the uniformity of the grinding track of non-standard grinding tools of a floor machine based on a dispersion coefficient, which specifically includes the following steps:

[0006] S1. Observe the surface morphology of abrasive particles of non-standard abrasive tools to obtain the characterization parameters of the abrasive particles, including particle size range and number of abrasive particles;

[0007] S2. Based on the obtained characterization parameters of the abrasive particles, the randomness of the number of abrasive particles with different particle sizes on the abrasive surface is simulated by distribution theory, and the number of abrasive particles with different particle sizes is calculated;

[0008] S3. Establishing an abrasive particle distribution model on the abrasive surface based on the number of abrasive particles of different particle sizes;

[0009] S4. Based on the motion transmission structure of the floor machine, establish the kinematic model of the grinding disc and derive the grinding trajectory equation of the grinding disc;

[0010] S5. Draw the grinding trajectory curves of all abrasive particles according to the abrasive particle distribution model on the abrasive surface, the position of the abrasive on the grinding disc, and the grinding trajectory equation of the grinding disc;

[0011] S6. Divide the grinding area into grids; calculate the average number of track points in the grids within the grinding area; and calculate the standard deviation of track uniformity within the grid area.

[0012] S7. Calculate the discrete coefficient CV of the trajectory uniformity in the grid area; and judge the uniformity of the trajectory in the entire area based on the discrete coefficient CV of the trajectory uniformity in the grid area. The larger the CV, the worse the trajectory uniformity; the smaller the CV, the better the trajectory uniformity.

[0013] Preferably, in S1, a microscopic observation method is used to perform multi-field observation on the abrasive surface of the non-standard grinding tool to obtain characterization parameters of the abrasive particles.

[0014] Preferably, the S2 is specifically:

[0015] According to the obtained particle size range, the average particle size μ and the particle size standard deviation σ are calculated, and the normal distribution model N(μ,σ 2 );

[0016] The particle size range is divided into several intervals, and the proportion of abrasive particles in each interval is calculated by integrating the probability density function. The expected number of abrasive particles in each particle size interval is calculated in combination with the total number of abrasive particles. The expected number of abrasive particles in each particle size interval is used as the number of abrasive particles with the median particle size in the interval to obtain the number of abrasive particles with different particle sizes.

[0017] Preferably, the establishing of the abrasive particle distribution model on the abrasive surface specifically includes:

[0018] Based on the Poisson point process theory, a completely random distribution model is used to achieve the irregular arrangement of abrasive particles of different sizes on the abrasive surface, and the position information of abrasive particles of different sizes is randomly generated; among them, there is no overlap between the randomly distributed abrasive particles;

[0019] The protrusion height of abrasive particles of different sizes on the abrasive surface is simulated using a completely random distribution model; the maximum protrusion height of the abrasive particles does not exceed the abrasive particle size r, and the minimum protrusion height is greater than 0;

[0020] Based on the judgment criteria of effective abrasive particles, invalid abrasive particles are screened and eliminated, and the abrasive distribution model is optimized.

[0021] Preferably, the criteria for determining effective abrasive particles are:

[0022] Abrasive particles with a protruding height greater than k1×r and abrasive particles with a protruding height less than k2×h are judged as invalid abrasive particles to eliminate abrasive particles that are at risk of falling off and fail to perform grinding effects; k1 and k2 are both preset threshold coefficients less than 1, and h is the maximum protruding height or average protruding height of all abrasive particles on the abrasive surface.

[0023] Preferably, the floor machine adopts the following motion transmission structure:

[0024] The planetary disc of the floor machine rotates around the center point of the planetary disc, and drives the grinding disc set on the planetary disc to revolve around the center point of the planetary disc, and at the same time the grinding disc rotates around the center point of the grinding disc.

[0025] Preferably, the kinematic model of the grinding disc is established and the grinding trajectory equation of the grinding disc is derived; specifically:

[0026] The fixed coordinate system OXY is established with the center point of the planetary disk at the initial moment as the origin O; the moving coordinate system O1X1Y1 is established with the center point of the planetary disk as the origin O1, and the moving coordinate system O2X2Y2 is established with the center point of the grinding disk as the origin O2;

[0027] The movement relationship between the grinding disc and the ground during the floor machine grinding process includes:

[0028] (1) The planetary disk drives the grinding disk to revolve around O1, with a rotation speed of ω1;

[0029] (2) The grinding disc rotates with O2 as the center of rotation, with a speed of ω2;

[0030] (3) The floor machine moves along the positive direction of the X-axis of the fixed coordinate system, and the feed speed is v j ;

[0031] Assume that any point on the abrasive is located at (x2, y2) in the coordinate system O2X2Y2; after time t, the floor machine moves a distance l = ν j ·t, the angle of rotation of the planetary disk is α=ω1·t, and the angle of rotation of the grinding disk is θ=ω2·t; then the trajectory equation of any point on the grinding disk in the fixed coordinate system OXY is expressed as:

[0032]

[0033] Where r1 is the diameter of the grinding disc.

[0034] Preferably, the calculation of the average number of track points in the grids in the grinding area is specifically as follows: recording the number of track points in all grids, calculating the average number of track points in the grids of the divided areas The calculation formula is:

[0035]

[0036] Where N n Indicates the number of trajectory points in the nth grid, where n is the number of grids divided.

[0037] Preferably, the standard deviation of trajectory uniformity S in the grid area is calculated N , the calculation formula is:

[0038]

[0039] Where N k Indicates the number of trajectory points in the k-th grid.

[0040] Preferably, the calculation formula for the discrete coefficient CV of the trajectory uniformity within the calculation grid area is:

[0041]

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The method for judging the uniformity of the grinding trajectory of non-standard abrasives of a floor machine proposed in the present invention can systematically, comprehensively and effectively predict the trajectories of all abrasive particles of the entire machine and propose quantitative indicators for judging the uniformity of the trajectories. With the help of computer programming, the abrasive surface modeling and the trajectory curve drawing of all effective abrasive particles in the ground area can be realized, thereby reducing the large amount of calculation, low efficiency and omissions when manually calculating and deriving the trajectory of each abrasive particle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of the method for evaluating the uniformity of the grinding track of non-standard abrasives for a floor machine based on the dispersion coefficient of the present invention;

[0045] Figure 2 It is the grinding disc part of the floor machine in the embodiment of the present invention;

[0046] Figure 3 is a normal distribution probability diagram of particle size according to an embodiment of the present invention;

[0047] Figure 4 is a two-dimensional model of abrasive particle distribution on the abrasive surface according to an embodiment of the present invention;

[0048] Figure 5 It is a three-dimensional model of abrasive particle distribution on the abrasive surface of the present invention;

[0049] Figure 6 It is the result of the ineffective abrasive surface abrasive grains and effective abrasive grains of the present invention;

[0050] Figure 7 It is the effective abrasive result after screening of the present invention;

[0051] Figure 8 It is abrasive modeling of all abrasive positions on the grinding disc of the present invention;

[0052] Figure 9 This is a simplified structural diagram of the gearbox of the floor machine of the present invention;

[0053] Figure 10 This is the kinematic analysis model of the grinding disc of the present invention;

[0054] Figure 11 It is the kinematic model of the grinding disc after the motion of the present invention;

[0055] Figure 12 It is a graph of all abrasive grinding trajectories of the present invention.

[0056] In the picture:

[0057] 1-Revolution input wheel; 2-Planetary wheel; 3-Rotation input wheel; 4-Transition wheel; 5-Output wheel. DETAILED DESCRIPTION

[0058] The technical solutions in the examples of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0059] Reference Figure 1-12 As shown, in order to achieve the above purpose, the present invention provides the following technical solution: a method for judging the uniformity of non-standard abrasive grinding tracks of floor machines based on a discrete coefficient, characterized in that:

[0060] (1) Observe the surface morphology of the abrasive particles of the non-standard abrasive tool and record the particle size range to obtain the number of abrasive particles;

[0061] (2) According to Gaussian distribution theory, the randomness of the number of abrasive particles with different particle sizes on the abrasive surface is simulated, and the proportion and number of abrasive particles with different particle sizes are calculated;

[0062] (3) Using a random distribution model to achieve the irregular arrangement of abrasive particles of different sizes on the abrasive surface;

[0063] (4) The protrusion height of abrasive particles with different particle sizes on the abrasive surface is simulated using a completely random distribution model;

[0064] (5) Based on the criteria for determining effective abrasive particles, invalid abrasive particles are screened and eliminated, and the abrasive particle distribution model is optimized;

[0065] (6) Combined with the motion transmission process of the floor machine gearbox, the kinematic analysis of the grinding disc is carried out to obtain the grinding trajectory equation of the floor machine grinding disc;

[0066] (7) According to the grinding trajectory equation, the grinding trajectory curves of all abrasive particles are drawn. In order to reduce the amount of calculation and calculation error, the trajectory curve is drawn using MATLAB software according to the trajectory equation obtained by motion analysis and the number of trajectory points in all grids is recorded with the help of the software; and the grinding area is grid-divided;

[0067] (8) Calculate the average number of trajectory points in the grid within the area

[0068] (9) Calculate the standard deviation S of trajectory uniformity within the grid area N ;

[0069] (10) Calculate the discrete coefficient CV of the trajectory uniformity within the grid area;

[0070] (11) The uniformity of the trajectory in the entire area is judged based on the discrete coefficient CV of the trajectory uniformity in the grid division area. The larger the CV, the worse the trajectory uniformity; the smaller the CV, the better the trajectory uniformity.

[0071] In step (1), the surface of the diamond abrasive is first observed in multiple fields using an electron microscope to comprehensively obtain the geometric morphology of the abrasive particles and to count key parameters such as the number of abrasive particles in the observation area and their particle size range.

[0072] The specific example of the present invention uses a floor grinding machine with a planetary gear transmission system as a platform and selects a cylindrical diamond abrasive with typical characteristics as the research object; the geometric parameters of the abrasive are: reference radius R = 12.25mm, standard height H = 6mm, reference Figure 2 The grinding disc of the floor machine is shown. The number of abrasive particles obtained after observation is N g =453, the equivalent particle size range is [0.4mm, 0.5mm] and the abrasive morphology;

[0073] In step (2), the key parameters are determined using step (1): the number of abrasive particles is 453, the equivalent particle size range is r = [0.4 mm, 0.5 mm], and the formula μ = (d max +d min ) / 2 to calculate the average particle size μ=0.45, which is taken as the distribution center of the normal distribution.

[0074] Since the normal distribution is a rapidly converging function, in practical applications, finite numbers can be used as the upper and lower limits of the integral. Since the abrasive particle size range in this example is r = [0.4mm, 0.5mm], 0.395 and 0.505 are used as the upper and lower limits of the normal distribution probability function;

[0075] The standard deviation σ represents the degree of particle size dispersion. For more accurate calculation, the proportional theorem is used to set the standard deviation. That is, the standard deviation is 0.0114;

[0076] Reference Figure 3 As shown in the probability diagram of normal distribution of particle size, a mathematical model of normal distribution N(0.45,0.0114) is established, and its function expression is:

[0077]

[0078] The total particle size range is divided into eleven intervals, namely [0.395, 0.405], [0.405, 0.415], [0.415, 0.425], [0.425, 0.435], etc., and the integral value in each interval is calculated as the proportion of the number of abrasive particles with different particle sizes. The calculation formula is:

[0079]

[0080] The final result of the calculation is P[0.40, 0.41, 0.42, 0.43, 0.44, 0.45, 0.46, 0.47, 0.48, 0.49, 0.50] = [0, 0.10, 1.29, 7.95, 23.66, 34.01, 23.66, 7.95, 1.29, 0.10, 0];

[0081] Calculate the number N of diamond abrasive particles of different sizes in a single abrasive g,x , and its calculation formula is:

[0082] N g,x =P g(x) ·N g

[0083] The final number of diamond abrasive grains with different particle sizes is calculated as N g [0.40,0.41,0.42,0.43,0.44,0.45,0.46,0.47,0.48,0.49,0.50]=[1,1,6,36,107,154,118,107,6,1,1];

[0084] Reference Figure 4 As shown in the two-dimensional model of abrasive particle distribution on the abrasive surface, in step (3), assuming that all abrasive particles are spherical, the diamond particles of different particle sizes calculated in the above step are arranged completely randomly on the upper surface of a cylinder with a radius of R = 12.5 mm and a standard height of H = 6 mm.

[0085] In step (4), the protruding height of the abrasive grains on the abrasive surface is randomly arranged using a completely random model, and finally a reference Figure 5 The results are shown in the three-dimensional model of the abrasive particle distribution on the abrasive surface, and the position information of the abrasive particles is recorded;

[0086] Reference Figure 6The results of invalid abrasive grains and effective abrasive grains on the abrasive surface are shown. In step (5), due to the different sizes of abrasive grains and different protruding heights, the abrasive grains that actually participate in grinding are not all the abrasive grains on the abrasive surface. Some abrasive grains will fall off due to the small volume of abrasive grains attached to the abrasive. Therefore, it is necessary to screen the effective abrasive grains, for example, to remove the abrasive grains with a height less than 0.3 times the grain size in the abrasive. Remove the invalid abrasive grains, and the final abrasive grains on the abrasive surface are referenced. Figure 7 Results of effective abrasive particles after screening are shown.

[0087] In this example, the floor machine has 27 abrasives, so refer to Figure 8 As shown in the modeling of all abrasives on the grinding wheel, 27 abrasive models are established and the position information of abrasives and abrasive particles is stored;

[0088] Reference Figure 9 As shown in the schematic diagram of the gearbox structure of the floor machine, in step (6), from the analysis of the gear transmission system, it can be seen that the movement of the grinding disc is mainly composed of two parts: one is the revolution motion output by the planetary gear system, and the other is the rotation motion transmitted through its own output shaft.

[0089] Reference Figure 10 As shown in the kinematic analysis model of the grinding disc, a fixed coordinate system OXY is established with the center point of the planetary disc at the initial moment as the origin O; a moving coordinate system O1X1Y1 is established with the center point of the planetary disc as the origin O1, and a moving coordinate system O2X2Y2 is established with the center point of the grinding disc as the origin O2.

[0090] After analysis, the motion relationship between the grinding disc and the ground during the grinding process of the floor machine is composed of three parts: the first is the planetary disc driving the grinding disc to rotate around O1, with a speed of ω1; the second is the rotation of the grinding disc with O2 as the rotation center, with a speed of ω2; the third is the feed motion of the floor machine along the positive direction of the x-axis of the fixed coordinate system, with a feed speed of v j .

[0091] Reference Figure 11 As shown in the kinematic model of the grinding wheel after movement, assuming that the position of a point A on the abrasive is (x2, y2) in the coordinate system O2X2Y2, the process of obtaining the position relative to the fixed coordinate system OXY at time t is as follows:

[0092] After time t, the floor machine moves a distance l = ν j ·t, the angle of rotation of the planetary disk α=ω1·t, the angle of rotation of the grinding disk θ=ω2·t;

[0093] At time t, the position of point A in the moving coordinate system O2x2y2 is still (x2, y2).

[0094] The position coordinates in the moving coordinate system O1X1Y1 are:

[0095]

[0096] Where r1 is the diameter of the grinding disc;

[0097] The position on the fixed coordinate system OXY is:

[0098]

[0099] The trajectory equation of any point on the grinding wheel is obtained as follows:

[0100]

[0101] In this example, the revolution speed ω1 is set to -900 r / min (where "-" indicates clockwise rotation); the rotation speed ω2 is set to 1350 r / min; the feed speed ν j =4m / min, and the trajectory equation can be obtained by substituting it into the trajectory equation for any set speed at any point.

[0102] Reference Figure 12 As shown in the graph of the grinding trajectory of all abrasive particles, in step (7), the grinding trajectory curves of all individual abrasive particles are drawn, and then all abrasive particle trajectory point curves are drawn according to the initial position information of different abrasive particles, and the grinding area is grid-divided;

[0103] In step (8), calculate the average number of trajectory points of the grid in the area The calculation formula is:

[0104]

[0105] Calculate the average number of grid trajectory points in the area

[0106] In step (9), calculate the standard deviation S of the trajectory uniformity within the grid area N , and its calculation formula is:

[0107]

[0108] Calculate the standard deviation S of the grid trajectory points in the area N =28523.5388.

[0109] In step (9), the discrete coefficient of the trajectory uniformity within the grid area is calculated, and the calculation formula is:

[0110]

[0111] The calculated discrete coefficient CV of the grid trajectory points in the area is 0.9143.

[0112] In step (12), the uniformity of the trajectory in the entire area is judged based on the standard deviation CV of the coefficient of dispersion of the trajectory uniformity in the grid-divided area. The larger the CV, the worse the trajectory uniformity; the smaller the CV, the better the trajectory uniformity.

[0113] The present invention discloses a method for evaluating the uniformity of non-standard abrasive grinding trajectories based on a discrete coefficient, which is specifically applied to the field of floor machine grinding process optimization. The method first uses microscopic observation technology to perform morphological analysis on diamond abrasives and accurately extracts the geometric characteristic parameters of the abrasive particles. By establishing a criterion for determining effective abrasive particles, the distribution density and particle size range of effective abrasive particles in the observation area are systematically statistically analyzed. In the modeling process, based on the measured effective abrasive particle data, combined with the theoretical model that the abrasive particle size obeys the normal distribution, a random distribution algorithm is used to construct a three-dimensional microscopic morphology reconstruction model of the abrasive surface. Based on the spatial position information of the abrasive particles in the model and combined with the analysis of the composite motion characteristics of the grinding disc, a mathematical model of the motion trajectory of all abrasive particles on the abrasive surface is established. After obtaining the grinding trajectory curves of all abrasive particles through numerical simulation, the grinding area is gridded and discretized, and the trajectory point density of each grid unit is statistically analyzed, and then the distribution mean and discrete coefficient of the global trajectory points are calculated.

[0114] The above are merely embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

Claims

1. The method for judging the uniformity of the grinding track of non-standard abrasive tools of floor machines based on the discrete coefficient is characterized by: The specific steps include: S1. Observe the surface morphology of abrasive particles of non-standard abrasive tools to obtain the characterization parameters of the abrasive particles, including particle size range and number of abrasive particles; S2. Based on the obtained characterization parameters of the abrasive particles, the randomness of the number of abrasive particles with different particle sizes on the abrasive surface is simulated by distribution theory, and the number of abrasive particles with different particle sizes is calculated; S3. Establishing an abrasive particle distribution model on the abrasive surface based on the number of abrasive particles of different particle sizes; S4. Based on the motion transmission structure of the floor machine, establish the kinematic model of the grinding disc and derive the grinding trajectory equation of the grinding disc; S5. Draw the grinding trajectory curves of all abrasive particles according to the abrasive particle distribution model on the abrasive surface, the position of the abrasive on the grinding disc, and the grinding trajectory equation of the grinding disc; S6. Meshing the grinding area; Calculate the average number of track points in the grid of the grinding area; calculate the standard deviation of track uniformity in the grid area; S7. Calculate the discrete coefficient CV of the trajectory uniformity in the grid area; and judge the uniformity of the trajectory in the entire area based on the discrete coefficient CV of the trajectory uniformity in the grid area. The larger the CV, the worse the trajectory uniformity; the smaller the CV, the better the trajectory uniformity.

2. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on a dispersion coefficient according to claim 1 is characterized in that: In S1, a microscopic observation method is used to perform multi-field observation on the abrasive surface of the non-standard grinding tool to obtain the characterization parameters of the abrasive particles.

3. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on the coefficient of dispersion according to claim 1 is characterized in that: The S2 is specifically: According to the obtained particle size range, the average particle size μ and the particle size standard deviation σ are calculated, and the normal distribution model N(μ,σ 2 ); The particle size range is divided into several intervals, and the proportion of abrasive particles in each interval is calculated by integrating the probability density function. The expected number of abrasive particles in each particle size interval is calculated in combination with the total number of abrasive particles. The expected number of abrasive particles in each particle size interval is used as the number of abrasive particles with the median particle size in the interval to obtain the number of abrasive particles with different particle sizes.

4. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on the dispersion coefficient according to claim 1 is characterized in that: The establishment of the abrasive particle distribution model on the abrasive surface specifically includes: Based on the Poisson point process theory, a completely random distribution model is used to achieve the irregular arrangement of abrasive particles of different sizes on the abrasive surface, and the position information of abrasive particles of different sizes is randomly generated; among them, there is no overlap between the randomly distributed abrasive particles; The protrusion height of abrasive particles of different sizes on the abrasive surface is simulated using a completely random distribution model; the maximum protrusion height of the abrasive particles does not exceed the abrasive particle size r, and the minimum protrusion height is greater than 0; Based on the judgment criteria of effective abrasive particles, invalid abrasive particles are screened and eliminated, and the abrasive distribution model is optimized.

5. The method for judging the uniformity of the non-standard abrasive grinding track of a floor machine based on the dispersion coefficient according to claim 4 is characterized in that: The criteria for determining the effective abrasive particles are specifically: Abrasive particles with a protruding height greater than k1×r and abrasive particles with a protruding height less than k2×h are judged as invalid abrasive particles to eliminate abrasive particles that are at risk of falling off and fail to perform grinding effects; k1 and k2 are both preset threshold coefficients less than 1, and h is the maximum protruding height or average protruding height of all abrasive particles on the abrasive surface.

6. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on the dispersion coefficient according to claim 1 is characterized in that: The floor machine adopts the following motion transmission structure: The planetary disc of the floor machine rotates around the center point of the planetary disc, and drives the grinding disc set on the planetary disc to revolve around the center point of the planetary disc, and at the same time the grinding disc rotates around the center point of the grinding disc.

7. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on the coefficient of dispersion according to claim 6 is characterized in that: The kinematic model of the grinding disc is established and the grinding trajectory equation of the grinding disc is derived; specifically: The fixed coordinate system OXY is established with the center point of the planetary disk at the initial moment as the origin O; the moving coordinate system O1X1Y1 is established with the center point of the planetary disk as the origin O1, and the moving coordinate system O2X2Y2 is established with the center point of the grinding disk as the origin O2; The movement relationship between the grinding disc and the ground during the floor machine grinding process includes: (1) The planetary disk drives the grinding disk to revolve around O1, with a rotation speed of ω1; (2) The grinding disc rotates with O2 as the center of rotation, with a speed of ω2; (3) The floor machine moves along the positive direction of the X-axis of the fixed coordinate system, and the feed speed is v j ; Assume that any point on the abrasive is located at (x2, y2) in the coordinate system O2X2Y2; after time t, the floor machine moves a distance l = ν j ·t, the angle of rotation of the planetary disk is α=ω1·t, and the angle of rotation of the grinding disk is θ=ω2·t; then the trajectory equation of any point on the grinding disk in the fixed coordinate system OXY is expressed as: Where r1 is the diameter of the grinding disc.

8. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on the dispersion coefficient according to claim 1 is characterized in that: The method of calculating the average number of track points in the grids of the grinding area is as follows: recording the number of track points in all grids, calculating the average number of track points in the grids of the divided area The calculation formula is: Where N n Indicates the number of trajectory points in the nth grid, where n is the number of grids divided.

9. The method for evaluating the uniformity of the non-standard abrasive grinding track of a floor machine based on the dispersion coefficient according to claim 1 is characterized in that: Calculate the standard deviation S of trajectory uniformity within the grid area N , the calculation formula is: Where N k Indicates the number of trajectory points in the k-th grid.

10. The method for evaluating the uniformity of the non-standard abrasive grinding track of a flooring machine based on the coefficient of dispersion according to claim 1 is characterized in that: The calculation formula for the discrete coefficient CV of the trajectory uniformity in the calculation grid area is:

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